perm filename WELEC1.VL[1,VDS] blob sn#232373
filedate 1976-08-18 generic text, type C, neo UTF8
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C00002 00002 \|\\M1BDR30\M2SIGN57\M3NGR25\M4NGR20\F2\CVICARM
\F3\C154 EAST DANA STREET
\CMOUNTAIN VIEW, CA. 94041
\F1\CAugust 19, 1976
Dr. Gordon I. Robertson
Engineering Research Center
Western Electric Corporation
P.O. Box 900
Princeton, N.J. 08540
Dear Dr. Robertson:
Enclosed is the instruction set documentation for the
PDP-11/45 version of the arm control software we are providing as
part of your order. This code is intended to be used on a PDP-11/45
with the floating point option. At this time we are also ready to
send you the complete software package, so you can start
familiarizing yourself with the details of the code. To do so we
must know just what form you want it in...magnetic tape, DECtape,
paper tape, and number of tracks and format. We will try to
accomodate your preferences. In addition, we can supply a line
printer listing for reference.
We have recently completed a fixed point software package for
our smaller (model M.I.T.) manipulator for use on the LSI-11,
PDP-11/40, and PDP-11/34. We hope to have a similar fixed point
package for our larger arm available in about 4 months. Should you
be interested, we will keep you posted on the progress of this work.
Also enclosed are some schematics of our current interface.
The version you will be getting will be slightly different, but will
function the same, and will have the same I/O details and pin
assignments. This interface connects to any PDP-11 series computer
through a DEC supplied DR11-C interface (DRV-11 for the LSI-11
computer). The interface has a 12 bit A/D (+- 10vdc),a 32 channel
multiplexer, and eight 12-bit DACS. This allows the computer to read
up to 32 analog inputs, and output up to 8 analog signals. In
addition, 16 "brake bit" outputs are available for controlling arm
brakes, and servo mode (position, velocity or current servo), and up
to 16 digital inputs to the computer are also allowed.
We are currently planning to deliver your arm around the
beginning of October. I will be on the East Coast sometime during
September and may stop by for some preliminary coordination with you.
We are also assuming that you do not currently have a PDP-11/45, and
are planning to do our final checkouts at Stanford University. You
are invited to visit during that time and get some "hands on"
experience with the complete system.\.